Formation Control Strategy for Underactuated Unmanned Surface Vehicles Subject to Unknown Dynamics and External Disturbances with Input Saturation

Mu, Dong Dong; Wang, Guo Feng; Fan, Yun Sheng

doi:10.1007/s12555-019-0611-6

Cited by 22 publications

(7 citation statements)

References 35 publications

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“…Suppose that Assumptions 1 and 3 hold. The fixed-time leader-following consensus can be achieved for SONMASs (2)-(3) under protocol (18) if the following inequalities are satisfied:…”

Section: Fixed-time Consensus With Directed Networkmentioning

confidence: 99%

“…However, the Lapalcian matrix is asymmetry in directed networks. Therefore, the design of control protocol (18) and the selection of Lyapunov ( 21) are different form previous ones.…”

Section: Fixed-time Consensus With Directed Networkmentioning

confidence: 99%

“…The main task on consensus of MASs is to design some feasible controllers such that all agents can achieve an agreement by sharing information among their neighbors. The consensus of MASs has been studied by many researchers since it can be used in many potential fields, such as the coordination control of UAV [10,20], formation control of vehicles [8,18,26], and so on.…”

Section: Introductionmentioning

confidence: 99%

“…Figure 12 describes the evolution of sliding mode variables, and the estimation of the setting time is T 17.10. Figure13describes the evolution of the control protocol(18).…”

mentioning

confidence: 99%

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Finite-time and fixed-time sliding mode control for second-order nonlinear multiagent systems with external disturbances

Yu²,

Huang³

et al. 2022

NAMC

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In this paper, the leader-following consensus of second-order nonlinear multiagent systems (SONMASs) with external disturbances is studied. Firstly, based on terminal sliding model control method, a distributed control protocol is proposed over undirected networks, which can not only suppress the external disturbances, but also make the SONMASs achieve consensus in finite time. Secondly, to make the settling time independent of the initial values of systems, we improve the protocol and ensure that the SONMASs can reach the sliding surface and achieve consensus in fixed time if the control parameters satisfy some conditions. Moreover, for general directed networks, we design a new fixed-time control protocol and prove that both the sliding mode surface and consensus for SONMASs can be reached in fixed time. Finally, several numerical simulations are given to show the effectiveness of the proposed protocols.

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“…Suppose that Assumptions 1 and 3 hold. The fixed-time leader-following consensus can be achieved for SONMASs (2)-(3) under protocol (18) if the following inequalities are satisfied:…”

Section: Fixed-time Consensus With Directed Networkmentioning

confidence: 99%

“…However, the Lapalcian matrix is asymmetry in directed networks. Therefore, the design of control protocol (18) and the selection of Lyapunov ( 21) are different form previous ones.…”

Section: Fixed-time Consensus With Directed Networkmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

“…Figure 12 describes the evolution of sliding mode variables, and the estimation of the setting time is T 17.10. Figure13describes the evolution of the control protocol(18).…”

mentioning

confidence: 99%

See 2 more Smart Citations

Finite-time and fixed-time sliding mode control for second-order nonlinear multiagent systems with external disturbances

Yu²,

Huang³

et al. 2022

NAMC

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show abstract

“…In the last few decades, the tracking problem of uncertain underactuated surface vessels has been widely studied in the field of adaptive robustness [1][2][3][4][5][6]. This problem exists in many fields, such as marine exploration, consistency control of driverless vehicles, sensor networks, power balance of micro-grids, etc.…”

Section: Introductionmentioning

confidence: 99%

Connectivity-preserving-based Distributed Synchronized Tracking of Networked Uncertain Underactuated Surface Vessels with Actuator Failures and Unknown Control Directions

Wang

et al. 2021

Int. J. Control Autom. Syst.

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When the actuator faults and the control directions are unknown, the difficulty of the asymptotically tracking control of the surface vessel will increase. In this paper, for actuator failures and unknown control directions, a distributed adaptive asymptotically synchronous tracking control law for multiple uncertain underactuated surface vessels (USVs) is proposed, which can achieve network connectivity and good tracking performance in a limited communication range. First, a distributed nonlinear error surface is introduced to achieve synchronous tracking between USVs and maintain the initial connectivity patterns. Second, a conditional inequality is proposed to solve the problems of unknown actuator failures and unknown control directions. Then, combined with the derived technical lemmas and Barbalat's lemma, the stability of the closed loop system is proved by the Lyapunov method. Finally, a simulation example verifies the theoretical results.

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Neural Network Based Visual Servo Control Under the Condition of Heavy Loading

Tong

Zhang

Shi

et al. 2021

Int. J. Control Autom. Syst.

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Formation Control Strategy for Underactuated Unmanned Surface Vehicles Subject to Unknown Dynamics and External Disturbances with Input Saturation

Cited by 22 publications

References 35 publications

Finite-time and fixed-time sliding mode control for second-order nonlinear multiagent systems with external disturbances

Finite-time and fixed-time sliding mode control for second-order nonlinear multiagent systems with external disturbances

Connectivity-preserving-based Distributed Synchronized Tracking of Networked Uncertain Underactuated Surface Vessels with Actuator Failures and Unknown Control Directions

Neural Network Based Visual Servo Control Under the Condition of Heavy Loading

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